CN216981714U

CN216981714U - Rotary driving mechanism of surgical robot

Info

Publication number: CN216981714U
Application number: CN202122392329.5U
Authority: CN
Inventors: 刘丹
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-07-15
Anticipated expiration: 2031-09-30

Abstract

The utility model discloses a rotary driving mechanism of a surgical robot, which comprises a motor, wherein an output shaft of the motor is connected with a first gear, the first gear is meshed with a second gear, and a wheel shaft of the second gear is hollow and is connected with a speed reducer; the motor is installed on the hollow shell, the first gear and the second gear are both arranged in the shell, and the second gear is connected with the shell through a bearing. The utility model has simple structure, large integral reduction ratio, low requirements on motor torque and power, large matching inertia and large output torque, and avoids the adoption of expensive torque motors.

Description

Rotary driving mechanism of surgical robot

Technical Field

The utility model relates to the field of machinery, in particular to a rotating mechanism for a surgical robot.

Background

The surgical robot is a large-scale teleoperation master-slave control robot system, need use the rotary driving mechanism of multiple specification structural style, and current rotary driving mechanism is most to industrial robot optimization, and is not fit for medical surgical robot in the aspect of energy density, medical security, walk line space etc.. Meanwhile, the integrated rotary driving mechanism widely used for the medical robot generally adopts a torque motor, a speed reducer, a corresponding brake, a driving circuit and a sensor, and has the advantages of high cost, complex structure, high assembly precision requirement, poor assembly and maintenance manufacturability, poor heat dissipation, small wiring space and limited application range.

Those skilled in the art have therefore endeavored to develop a surgical robot rotation driving mechanism having a simple structure.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, the present invention provides a rotation driving mechanism for a surgical robot with a simple structure.

In order to achieve the purpose, the utility model provides a rotating mechanism which comprises a motor, wherein an output shaft of the motor is connected with a first gear, the first gear is meshed with a second gear, and a wheel shaft of the second gear is hollow and is connected with a speed reducer;

the motor is installed on the hollow shell, the first gear and the second gear are both arranged in the shell, and the second gear is connected with the shell through a bearing.

Preferably, the housing includes a housing main body and a biasing portion connected to each other, the housing main body is a hollow structure, the second gear is disposed in the housing main body, and the first gear is disposed in the biasing portion.

Preferably, the motor is mounted on the offset part, and an output shaft of the motor extends into the offset part to be connected with the first gear.

Preferably, a spacer bush is arranged in a hollow part of the housing main body, and the spacer bush penetrates through a hollow part of the axle of the second gear and the reducer.

Preferably, the housing main body is uniformly provided with mounting threaded holes along the circumference.

Preferably, the spacer comprises a hollow sleeve and a connecting sheet, the top end of the hollow sleeve extends towards the periphery of the hollow sleeve, and the connecting sheet is connected with the shell main body.

Preferably, the housing main body has an inwardly extending portion extending toward the center, a lower extending portion is connected below the inwardly extending portion, and the bearing is disposed between the lower extending portion and the wheel shaft.

Preferably, a lining ring is arranged between the bearing and the upper part and the lower part of the inward extending part.

The beneficial effects of the utility model are: the utility model has simple structure, large integral reduction ratio, low requirements on motor torque and power, large matching inertia and large output torque, and avoids the adoption of expensive torque motors.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional structure of an embodiment of the present invention.

Fig. 3 is an enlarged schematic view of a structure at a in fig. 2.

Fig. 4 is a schematic illustration of an explosive structure according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 4, a surgical robot rotation driving mechanism includes a motor 1, a first gear 2 is connected to an output shaft of the motor 1, and the first gear 2 is engaged with a second gear 3, in this embodiment, the diameter of the first gear 2 is smaller than that of the second gear 3, so as to realize a first-stage speed reduction of the motor. The axle 31 of the second gear 3 is hollow and connected to the reducer 4. The motor 1 is arranged on a hollow shell 6, the first gear 2 and the second gear 3 are both arranged in the shell 6, and the second gear 3 is connected with the shell 6 through a bearing 7.

The housing 6 includes a housing main body 61 and an offset portion 62 connected to each other, the housing main body 61 is a hollow structure, the second gear 3 is provided in the housing main body 61, and the first gear 2 is provided in the offset portion 62. The motor 1 is mounted on the offset portion 62, and an output shaft thereof extends into the offset portion 62 to be connected with the first gear 2.

The spacer 8 is disposed in the hollow portion of the housing main body 61, and the spacer 8 penetrates through the hollow portion of the wheel shaft 31 of the second gear 3 and the hollow portion of the speed reducer 4. The spacer 8 includes a hollow sleeve 81 and a connecting piece 82 protruding from the top end thereof to the outer periphery, and the connecting piece 82 is connected to the case main body 61. In this embodiment, the sleeve 81 is inserted through the hollow of the hub 31 of the second gear 3 and the reduction gear 4, and the connecting piece 82 is connected to the case main body 61 by a bolt. Mounting threaded holes 65 are uniformly arranged on the circumference of the housing main body 61 and are used for connecting with a mechanical arm of a surgical robot.

The housing main body 61 has an inwardly extending portion 63 extending toward the center, a lower extending portion 64 is connected below the inwardly extending portion 63, and the bearing 7 is disposed between the lower extending portion 64 and the wheel shaft 31. And a lining ring 9 is arranged between the bearing 7 and the inner extension part 63 up and down, so that the operation of the bearing can be protected.

When the speed reducer is used, the motor 1 is installed in an offset mode, the center of the shell 6 is hollow, a cable 11 can conveniently pass through the speed reducer, the motor 1 is subjected to primary speed reduction through the first gear 2 and the second gear 3, the rotating center is changed, the speed reducer 4 is driven to perform secondary speed reduction, the overall speed reduction ratio is large, the requirements for the torque and the power of the motor are low, the matching inertia is large, the output torque is large, an expensive torque motor is avoided, the structure is simple, and the cost is low.

The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.

Claims

1. A rotary driving mechanism of a surgical robot is characterized in that: the gear transmission mechanism comprises a motor (1), wherein an output shaft of the motor (1) is connected with a first gear (2), the first gear (2) is meshed with a second gear (3), and a wheel shaft (31) of the second gear (3) is hollow and is connected with a speed reducer (4);

the motor (1) is installed on a hollow shell (6), the first gear (2) and the second gear (3) are both arranged in the shell (6), and the second gear (3) is connected with the shell (6) through a bearing (7).

2. A surgical robot rotary drive mechanism as claimed in claim 1, wherein: the shell (6) comprises a shell main body (61) and an offset part (62) which are connected, the shell main body (61) is of a hollow structure, the second gear (3) is arranged in the shell main body (61), and the first gear (2) is arranged in the offset part (62).

3. A surgical robot rotary drive mechanism as claimed in claim 2, wherein: the motor (1) is arranged on the offset part (62), and an output shaft of the motor extends into the offset part (62) to be connected with the first gear (2).

4. A surgical robot rotary drive mechanism as claimed in claim 2, wherein: a spacer bush (8) is arranged in the hollow part of the shell main body (61), and the spacer bush (8) penetrates through the hollow part of the wheel shaft (31) of the second gear (3) and the reducer (4).

5. A surgical robot rotary drive mechanism as claimed in claim 2, wherein: the shell main body (61) is uniformly provided with mounting threaded holes (65) along the circumference.

6. A surgical robot rotary drive mechanism as claimed in claim 4, wherein: the spacer bush (8) comprises a hollow sleeve (81) and a connecting piece (82) extending from the top end to the periphery of the hollow sleeve, and the connecting piece (82) is connected with the shell main body (61).

7. A surgical robot rotary drive mechanism as claimed in claim 2, wherein: the housing main body (61) has a centrally projecting inner extension (63), a lower extension (64) is connected below the inner extension (63), and the bearing (7) is disposed between the lower extension (64) and the wheel shaft (31).

8. A surgical robot rotary drive mechanism as claimed in claim 6, wherein: and a lining ring (9) is arranged between the bearing (7) and the inner extending part (63) up and down.